Final answer:
The statement is false as Norse mythology describes multiple pathways to Asgard, not only the Bifrost.
Step-by-step explanation:
The statement that the only way to get into Asgard according to Norse mythology was through the Bifrost is false. While the Bifrost, the rainbow bridge guarded by Heimdall, is the most well-known route to Asgard, it is not the exclusive path in mythological texts.
Norse mythology also describes other ways to reach Asgard, such as via dark and secret paths known only to gods and select others. This exemplifies the rich and intricate nature of mythical narratives where multiple avenues to the divine realms are often suggested.